Agricultural machine

ABSTRACT

An agricultural machine includes a swath information acquiring module, a first determining module to determine a traveling path of an automatic operation based on a position of a swath, a setting module to set a work continuation width based on the traveling path, a second determining module to determine, when there is a manual operation by a worker during the automatic operation, whether the agricultural machine during the manual operation is within the work continuation width, and an executing module to execute the automatic operation. The executing module restores the agricultural machine to the traveling path after a termination of the manual operation and continues the automatic operation when the agricultural machine is within the work continuation width, and cancels the automatic operation when the agricultural machine is determined to be not within the work continuation width.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of priority to Japanese PatentApplication No. 2019-230606 filed Dec. 20, 2019, Japanese PatentApplication No. 2019-230607 filed on Dec. 20, 2019 and Japanese PatentApplication No. 2019-229521 filed on Dec. 19, 2019. The entire contentsof each of these applications are hereby incorporated herein byreference.

BACKGROUND OF THE INVENTION 1. Field of the Invention

The present disclosure relates to an agricultural machine provided withan automatic steering function.

2. Description of the Related Art

A baler work is performed by connecting a baler to a tractor and towingthe baler by the tractor. Although uniformity is required for bales, theshape of a swath which is a collection of mowed grass and hay, does notnecessarily correspond to the size of the baler. Therefore, even if thebaler simply travels on a swath, it cannot always generate uniformbales.

Thus, U.S. Pat. No. 7,404,355 discloses a tractor and a baler whichgenerate a cylindrical bale by providing a sensor and automaticallysteering the tractor while acquiring the position of a swath and a balesize.

Moreover, JP2019-054746A discloses a work vehicle, such as a tractor,which performs automatic steering (auto steering) based on a scheduledtraveling route. The auto steering is to automatically control steeringso that a work vehicle travels a scheduled traveling route which is setin advance. Therefore, a worker can focus on operations other thandriving the vehicle to improve the work efficiency.

Even if the bales are generated by the automatic steering like theconventional technology, the bales are not always uniform. In order togenerate the uniform bales, a worker needs to finely adjust a travelingpath, while monitoring the bale size.

However, when the worker performs a manual operation to adjust thetraveling path, the automatic steering function is canceled.

SUMMARY OF THE INVENTION

Preferred embodiments of the present invention provide agriculturalmachines that each increase the uniformity of bales, while continuing anautomatic steering function.

Moreover, if the fine adjustment continues, the execution of theautomatic steering function becomes meaningless. Thus, it is desirablethat the fine adjustment of a traveling path of the automatic steeringfunction is eliminated as much as possible.

The present disclosure is made in view of the foregoing problem, andanother purpose thereof is to provide an automatic steering functionwhich allows a vehicle to travel on a traveling path as intended by aworker as much as possible.

Moreover, as described above, when a worker operates a steering wheelwhile the auto steering is executed, the auto steering is generallycanceled.

However, if the auto steering is always canceled when the manualsteering operation occurs, it may not be as intended by the worker.Meanwhile, also during the auto steering, a manual steering operationmay temporarily be needed.

In such a case, it is complicated and takes too much time to again setthe auto steering.

The present disclosure is made in view of the foregoing problem, andstill another purpose thereof is to provide a work vehicle which cancontinue an auto steering as intended by a worker.

An agricultural machine according to a first aspect of an examplepreferred embodiment of the present disclosure has an automatic steeringfunction that causes the agricultural machine to automatically travel ona given path. The agricultural machine includes a swath informationacquiring module configured to acquire a position of a swath, a firstdetermining module configured to determine a traveling path of anautomatic operation according to the automatic steering function basedon the position of the swath, a setting module configured to set a workcontinuation width based on the traveling path, a second determiningmodule configured to determine, when there is a manual operation by aworker during the automatic operation, whether a position of theagricultural machine during the manual operation is within the workcontinuation width, and an executing module configured to execute theautomatic operation according to the automatic steering function. Theexecuting module restores the traveling of the agricultural machine onthe traveling path after a termination of the manual operation andcontinues the automatic operation according to the automatic steeringfunction, when the second determining module determines that theagricultural machine is within the work continuation width, and cancelsthe automatic steering function at a time when the second determiningmodule determines that the agricultural machine is not within the workcontinuation width.

According to this configuration, even when the manual operation isperformed during the automatic operation according to the automaticsteering function, the automatic steering function is not canceled aslong as the agricultural machine is within the work continuation width.Thus, for example when fine adjustment of a traveling path of theagricultural machine is required in order to generate uniform bales,even if a worker performs the fine adjustment of the traveling path bythe manual operation, the automatic steering function is not canceled.

Therefore, the uniformity of the bales can be improved while continuingthe automatic steering function.

In the agricultural machine, the executing module may restore thetraveling of the agricultural machine on the traveling path via a pathdetermined based on at least any of a current position of theagricultural machine, a traveling direction of the agricultural machine,a distance between the agricultural machine and the traveling path, aresuming distance set in advance, and an angular velocity of a steeringwheel during the manual operation.

According to this configuration, since the path of restoring thetraveling of the agricultural machine on the traveling path isdetermined based on at least any of the current position of theagricultural machine, the traveling direction of the agriculturalmachine, the distance between the agricultural machine and the travelingpath, the resuming distance set in advance, and the angular velocity ofthe steering wheel during the manual operation, the agricultural machinecan be caused to go back to the traveling path through an optimal path.

In the agricultural machine, the executing module may cancel theautomatic steering function when an angular velocity of a steering wheelduring the manual operation is a given value or more.

According to this configuration, the automatic steering function iscanceled when the steering operation of which the angular velocity isthe given value or more is performed during the automatic operationaccording to the automatic steering function. Thus, for example when aso-called “rapid steering operation” takes place, the automatic steeringfunction can be canceled.

In the agricultural machine, the agricultural machine may becommunicable with an FMIS (Farm Management Information System) that is asystem in which an external device performs a centralized control ofinformation detected by various sensors, and the swath informationacquiring module may acquire, from the FMIS, the position of the swathbased on information on a formation process of a target swath.

According to this configuration, since the swath information is acquiredfrom the FMIS, the traveling path is able to be determined based on theaccurate position of the swath. Moreover, for example, even when asensor for detecting the position of the swath is not provided, theposition of the swath can be recognized.

In the agricultural machine, the first determining module may determinea subsequent traveling path based on a traveling footprint on which theagricultural machine traveled on the swath by the manual operation in acertain section.

According to this configuration, since the traveling path is determinedbased on the traveling footprint actually traveled on the swath by themanual operation, a traveling path close to that of the manual operationcan be set.

An agricultural machine according to a second aspect of an examplepreferred embodiment of the present disclosure is an agriculturalmachine including an automatic steering function that causes theagricultural machine to automatically travel on a given path. Theagricultural machine includes a swath information acquiring moduleconfigured to acquire a position of a swath, a first determining moduleconfigured to determine a traveling path of an automatic operationaccording to the automatic steering function based on the position ofthe swath, an executing module configured to cause the agriculturalmachine to travel on the traveling path by the automatic operationaccording to the automatic steering function, and a traveling-footprintacquiring module configured to acquire an actually-traveled footprint ina given first section up to a current time. The first determining moduledetermines a subsequent traveling path based on the traveling footprintacquired by the traveling-footprint acquiring module for every givensecond section after the automatic operation is started.

According to this configuration, since the subsequent traveling path isdetermined based on the traveling footprint actually traveled for theevery given second section, the traveling path based on the travelingfootprint actually traveled on the swath is able to be determined. Thus,the traveling path is able to be determined for the every given secondsection according to the actual circumstances.

For example, when a baler work is performed by the agricultural machine,the path actually traveled is highly possibly a path which is adjustedby a worker so as to make bales uniform by taking the shape, etc., ofthe bale into consideration. By determining the traveling path accordingto the actual circumstances, such an effort of the worker to generatethe uniform bales is able to be reduced. In other words, the fineadjustment by the worker is able to be reduced, that is, the travelingpath as intended by the worker is able to be determined.

Note that, the given second section may be the same as or longer thanthe given first section.

In the agricultural machine, the first determining module may determinethe traveling path by machine learning using a deep learning model. Thedeep learning model may output the traveling footprint by using thetraveling footprint and a peripheral environment state in the firstsection as inputs.

According to this configuration, the traveling path considered to beoptimal based on the traveling footprint and the peripheral environment,is able to be determined.

In the agricultural machine, the first determining module mayapproximate the traveling footprint by a sine wave and determine theapproximated sine-wave path as the traveling path.

The traveling footprint of the agricultural machines has a shape closeto the sine wave in many cases. According to this configuration, sincethe traveling path is determined as the approximated sine-wave path ofthe traveling footprint, the traveling path close to the travelingfootprint is able to be determined.

The agricultural machine may further include a setting module configuredto set a work continuation width based on the traveling path, and asecond determining module configured to determine, when there is amanual operation by a worker during the automatic operation, whether aposition of the agricultural machine during the manual operation iswithin the work continuation width. The executing module may restore theagricultural machine to the traveling path after a termination of themanual operation and continue the automatic operation according to theautomatic steering function, when the second determining moduledetermines that the agricultural machine is within the work continuationwidth, and may cancel the automatic steering function at a time when thesecond determining module determines that the agricultural machine isnot within the work continuation width.

According to this configuration, even when the manual operation isperformed during the automatic operation according to the automaticsteering function, the automatic steering function is not canceled aslong as the agricultural machine is within the work continuation width.Thus, for example when the fine adjustment of the traveling path of theagricultural machine is required in order to generate uniform bales,even if the worker performs the fine adjustment of the traveling path bythe manual operation, the automatic steering function is not canceled.Therefore, the uniformity of the bales is able to be improved whilecontinuing the automatic steering function.

In the agricultural machine, the first determining module may determinethe traveling path based on information used to determine the travelingpath before a startup of the agricultural machine, after the startup ofthe agricultural machine.

According to this configuration, for example, even when the work for oneday is finished and an engine, etc., of the agricultural machine isstopped, from the beginning of the work on the next day, the travelingpath is able to be determined using the information on the travelingfootprint of the day before, etc.

A work vehicle according to a third aspect of an example preferredembodiment of the present disclosure is a work vehicle including anautomatic steering function that causes the work vehicle toautomatically travel on a given path. The work vehicle includes asetting module configured to set enable and disable of the automaticsteering function, an executing module configured to execute theautomatic steering function when the setting module enables theautomatic steering function, a determining module configured todetermine whether a steering operation of the work vehicle is performedby a worker, and an interruption button configured to interrupt theautomatic steering function. The executing module cancels the automaticsteering function, when the determining module determines that thesteering operation is performed during the execution of the automaticsteering function, without the interruption button being actuated. Theexecuting module suspends the automatic steering function, when thedetermining module determines that the steering operation is performedwith the interruption button being actuated, and resumes the automaticsteering function after the interruption button is no longer actuated.

According to this configuration, even when the steering operation isperformed during the execution of the automatic steering function, aslong as the interruption button is actuated, the automatic steeringfunction is simply suspended, and after the interruption button is nolonger actuated, the function is resumed. Thus, it can suitably supporta case when the worker wants to perform the steering operation withoutcanceling the automatic steering function. That is, the automaticsteering is able to be continued as intended or desired by the worker.

In the work vehicle, the executing module may derive an optimal path torestore the work vehicle to the given path based on a position of thework vehicle at a timing when resuming the automatic steering function,and the given path. The executing module may then cause the work vehicleto travel on the optimal path and to return to the given path.

According to this configuration, when the automatic steering function isresumed, the work vehicle can be returned to the given path through anoptimal path.

In the work vehicle, the interruption button may be provided to asteering wheel.

According to this configuration, the worker can actuate interruptionbutton while operating the steering wheel, and thus the actuation of theinterruption button can be easier.

In the work vehicle, a steering wheel may be provided with a steeringwheel spinner, and the interruption button may be provided to thesteering wheel spinner.

According to this configuration, since the interruption button isprovided to the steering wheel spinner, the interruption button isactuated while the rotation of the steering wheel is easily controlled,and thus the actuation of the interruption button can be easier.

In the work vehicle, the interruption button may be provided to an armrest inside a cabin of the work vehicle.

According to this configuration, the worker can easily actuateinterruption button.

The baler controllers according to various aspects of example preferredembodiments of the present disclosure described above, may beimplemented by a computer, and in this case, a control program whichoperates the computer as the baler controller (software) to achieve thebaler controller by the computer, and a computer readable recordingmedium which stores the program are encompassed in the scope of thepresent disclosure.

According to the first aspect of an example preferred embodiment of thepresent disclosure, even when the manual operation is performed duringthe automatic operation according to the automatic steering function,the automatic steering function is not canceled as long as theagricultural machine is within the work continuation width. Thus, forexample when fine adjustment of a traveling path of the agriculturalmachine is required in order to generate uniform bales, even if a workerperforms the fine adjustment of the traveling path by the manualoperation, the automatic steering function is not canceled. Therefore,the uniformity of the bales is able to be improved while continuing theautomatic steering function.

According to the second aspect of an example preferred embodiment of thepresent disclosure, since the subsequent traveling path is determinedbased on the traveling footprint actually traveled for the every givensecond section, the traveling path based on the traveling footprintactually traveled on the swath is able to be determined. Thus, thetraveling path is able to be determined for every given second sectionaccording to the actual circumstances. Moreover, by determining thetraveling path according to the actual circumstances, the effort of theworker to generate the uniform bales is able to be reduced. In otherwords, the fine adjustment by the worker is able to be reduced, that is,the traveling path as intended by the worker is able to be determined.

According to the third aspect of an example preferred embodiment of thepresent disclosure, even when the steering operation is performed duringthe execution of the automatic steering function, as long as theinterruption button is actuated, the automatic steering function issimply suspended, and after the interruption button is no longeractuated, the function is resumed. Thus, it is able to suitably supporta case when the worker wants to perform the steering operation withoutcanceling the automatic steering function. That is, the automaticsteering is able to be continued as intended by the worker.

The functions of the work vehicles according to various examplepreferred embodiments of the present disclosure may be implemented by acomputer, and in this case, a control program which operates thecomputer as each module (software) provided to the work vehicle toachieve the function of the work vehicle by the computer, and a computerreadable recording medium which stores the program are encompassed inthe scope of the present disclosure.

The above and other elements, features, steps, characteristics andadvantages of the present invention will become more apparent from thefollowing detailed description of the preferred embodiments withreference to the attached drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a functional block diagram illustrating a structure of atractor and a baler according to an example preferred embodiment of thepresent invention.

FIG. 2 is a view schematically illustrating the tractor and the baler.

FIG. 3 is a flowchart illustrating a flow of processing in the tractor.

FIG. 4 is a view illustrating a continuation of an automatic steeringoperation.

FIG. 5 is a view illustrating a continuation of the automatic steeringoperation.

FIG. 6 is a functional block diagram illustrating a structure of atractor according to another preferred embodiment of the presentinvention.

FIG. 7 is a view illustrating one example of a method of determining atraveling path by a traveling controlling module.

FIG. 8 is a view illustrating one example of the method of determiningthe traveling path by the traveling controlling module when a nudgefunction is provided.

FIG. 9 is a functional block diagram of a tractor according to anotherexample preferred embodiment of the present invention.

FIG. 10 is a flowchart illustrating a flow of processing in the tractor.

FIG. 11 is a view illustrating a driver's seat of the tractor when seenfrom rear.

FIG. 12 is a view illustrating one example of arrangement of aninterruption button.

FIG. 13 is a view illustrating one example of arrangement of theinterruption button.

FIG. 14 is a view illustrating one example of traveling of the tractorwhen the interruption button is actuated while executing an autosteering.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Hereinafter, example preferred embodiments of the present disclosure isdescribed in detail. In an example preferred embodiment, a tractor 10 isconnected to a baler 20 so that it is able to tow the baler 20. Thetractor 10 and the baler 20 are able to communicate with each other. Abaler work is performed by the tractor 10 traveling while it tows thebaler 20. Here, the tractor 10 and the baler 20 are comprehensivelyreferred to as an “agricultural machine 30.”

In this preferred embodiment, the tractor 10 includes an automaticsteering function. The tractor 10 is provided with a measuring sensor 16to measure the position and shape of a swath, and determines a travelingpath on which the automatic steering function causes the tractor 10 totravel automatically, and therefore, the tractor 10 travels on thetraveling path. Further, a work continuation width or swath is set tothe determined traveling path, and if the tractor 10 exists within thework continuation width, the tractor 10 does not cancel the automaticsteering even if a manual operation is performed during the automaticsteering, and continues the automatic steering after the manualoperation.

Thus, the tractor 10 can travel by the automatic steering, and even ifthe manual operation is performed in order to finely adjust thetraveling path of the tractor 10, the automatic steering can becontinued after the manual operation. Therefore, the troubles (the timeand effort, processing, etc.) which are caused by canceling theautomatic steering is able to be reduced.

Referring to FIG. 2 , the tractor 10 which is a traveling vehicle isdescribed. FIG. 2 is a side view of the tractor 10 and the baler 20. Thetractor 10 includes a vehicle body 11, a cabin 12 surrounded by thevehicle body 11, front wheels 13 and rear wheels 14 which are propelledby power from an engine and/or a motor (not illustrated). The tractor 10can slowdown and stop by using a brake (not illustrated).

The tractor 10 is provided with a GPS 15 and can acquire positionalinformation from satellites. The tractor 10 can perform the automaticsteering by using the positional information, and can also automaticallytravel on a swath 40. The GPS 15 may be provided with an inertialmeasurement unit (IMU). The positioning accuracy of the GPS can besupplemented by the inertial measurement unit. Moreover, since theinertial measurement unit can measure the angles of three axes, it canmeasure a vehicle posture of the tractor on irregularities, a slopingground, etc. of a field. The tractor 10 may also be provided with ameasuring sensor 16, such as a lidar and a camera. The tractor 10 mayalso detect the swath by the measuring sensor 16, and automaticallytravel on the swath 40.

Moreover, the baler 20 includes a frame 21, a rear gate 22, andtraveling wheels 23. The baler 20 is connected physically andelectrically with the tractor 10 via a connector 31. The baler 20 istowed by the tractor 10 and forms a bale 41.

The baler 20 feeds hay, straw, etc. which are mowed grass, wheat, etc.in the swath 40 from an inlet port 24 into an internal space surroundedby the frame 21 and the rear gate 22, and forms the bale 41. A balersensor 25 is located in the internal space surrounded by the frame 21and the rear gate 22, and detects the size of the bale 41. When the bale41 grows to a given size, the tractor 10 stops, and the bale 41 ispacked and discharged from the baler 20.

Next, functions of the tractor 10 and the baler 20 are described withreference to FIG. 1 . FIG. 1 is a functional block diagram of thetractor 10 and the baler 20.

As illustrated in FIG. 1 , the tractor 10 includes a tractor controller100, a tractor communication unit 110, a sensor 120, a user interface130, an actuator 140, and a terminal 150. These components are connectedto each other according to the International Standard ISO11783 based onCAN (Control Area Network), which is referred to as ISOBUS.

The tractor controller 100 includes an ECU (Electronic Control Unit),and a CPU (Control Processing Unit), a memory, a control software, etc.The tractor controller 100 performs a control related to traveling ofthe tractor 10 (e.g., traveling and stop), PTO (Power Take-Off) whichtransmits the power from the engine to a work machine, such as the baler20, and a control of a hitch which attaches the work machine to thetractor.

The tractor controller 100 includes a swath information acquiring module101, a traveling controlling module (a first determining module, asecond determining module, an executing module) 102, and a workcontinuation width setting module (a setting module) 103. The swathinformation acquiring module 101 acquires swath information measured bythe measuring sensor 16 (the position, the shape, etc.), and notifies itto the traveling controlling module 102.

The traveling controlling module 102 is to perform the automaticsteering function, and determines a suitable traveling path based on theswath information notified from the swath information acquiring module101, and the shape of the bale 41 notified from the baler 20, andcontrols the actuator 140 so that the tractor 10 travels on thedetermined traveling path.

The work continuation width setting module 103 sets the workcontinuation width during the execution of the automatic steeringfunction. The work continuation width is a given width corresponding toa distance from the center line of the traveling path set in order toperform the automatic steering function. The given distance isdetermined based on the width of the swath 40, the size of the balegenerated by the baler 20, the width of the tractor 10, etc., and if thetractor 10 exists within the work continuation width, the automaticsteering function will not be canceled.

The sensor 120 includes the GPS 15, the measuring sensor 16, and anodometer 122, in addition to sensors to sense fundamental parameters ofthe tractor, such as a vehicle speed, a transmission status, an enginespeed, a PTO rotational speed, a work machine attaching status, and ahydraulic pressure. The information acquired by the sensor 120 is sentto the tractor controller 100 and is used to control the tractor 10.

The user interface 130 is a steering wheel and pedals of an acceleratorand a brake, and allows an operator to perform an operation related totraveling of the tractor 10.

The actuator 140 includes power sources, such as the engine and themotor, the transmission, a clutch axle, the brake, the front wheels 13,the rear wheels 14, and the PTO and the hitch which drive the workmachine. Note that the brake may be an electronic brake. The actuator140 is controlled by the tractor controller 100.

The terminal 150 includes a display unit 151 and an operation acceptingpart 152. The terminal 150 includes, for example, a touch panel, and itis able to display the information acquired from the sensors of thetractor 10 and the baler 20 and to be used to accept an operationrelated to the work of the baler 20, and accept settings for the PTO andthe hitch of the tractor 10.

The tractor communication unit 110 performs two-way communications(intercommunications) with the baler 20. Here, communications based onthe International Standard ISO11783 is used. The tractor communicationunit 110 also has a TIM (Tractor Implement Management) system so that itreceives a control signal from the baler 20 and the tractor controller100 performs controls of the speed of the tractor 10, the rotationalspeed of the PTO, the height of the hitch, the hydraulic pressure, etc.Note that the terminal 150 may be connected to the baler 20 withoutthrough the tractor communication unit 110. Moreover, the terminal 150is also connected to the tractor controller 100.

As illustrated in FIG. 1 , the baler 20 includes a baler controller 200,a baler communication unit 210, the baler sensor 25, and a work part220. These are connected with each other through the ISOBUS.

The baler controller 200 includes an ECU (Electronic Control Unit), anda CPU (Control Processing Unit), a memory, a control software, etc. Thebaler controller 200 performs a control to compress hay and straw and toform the bale having a given size and shape.

There are mainly two types of balers 20 which form a cylindrical bale 41(referred to as a “round baler”) and which form a square bale 41(referred to as a “square baler”). The shape of the bale 41 can bedetermined by [longitudinal dimension (length)]×[lateral dimension(width)]×[height], when a traveling direction of the baler 20 is thelongitudinal direction (length direction), a direction perpendicular tothe traveling direction of the baler 20 is the lateral or transversedirection (width direction), and a height direction of the baler 20 isthe height direction. As one example, the square-shaped bale 41 has 200cm (length)×80 cm (width)×90 cm (height), and the round bale 41 has 120cm (width)×150 cm (diameter: length and height). For example, as for theround baler, hay and straw are uniformly distributed in the widthdirection, the bale 41 is grown without an eccentricity in the thicknessin the width direction, and when the bale 41 reaches a target size(diameter), the work is stopped.

The baler controller 200 transmits necessary information, such as thecurrent size and shape of the bale 41, or a speed-control request, suchas a slowdown (if needed) to the tractor 10 through the balercommunication unit 210. The information or request is displayed on theterminal 150 of the tractor 10. Here, the width of the bale 41 isnormally not in agreement with the width of the swath 40, and even if itis in agreement, the density of the swath 40 is rarely constant in thewidth direction, and the swath 40 has a mountain shape. Therefore, ifthe bale is not uniform in the transverse direction (width direction),the baler controller 200 transmits the information to the tractor 10,and the information is displayed on the terminal 150.

Even during the automatic steering operation, the worker finely adjuststhe traveling path of the tractor 10 based on the information, and, forexample, steers so that the tractor 10 travels offset from the center ofthe swath 40 so as to make the bale 41 uniform. Moreover, the worker mayalso steer so that the tractor 10 travels in a zigzag manner withrespect to the swath 40 to make the bale 41 uniform.

The baler sensor 25 measures, for example, the size, shape, weight, andthe uniformity of the surface of the bale 41. The information acquiredby the baler sensor 25 is sent to the baler controller 200 and is usedfor the control. In this preferred embodiment, for example, a pluralityof bale size sensors are lined up in the transverse direction and defineand function as the baler sensor 25, and measure the size of the bale 41and the uniformity in the width direction.

The work part 220 creates the bale 41. As described above, the work part220 compresses hay, straw, etc. entered from the inlet port 24, andshapes them to form the bale 41. Moreover, after the bale is created,the work part 220 packs the bale 41 and discharges it from a baledischarging part 221. Note that the discharge of the bale 41 isperformed by opening the rear gate 22.

The baler communication unit 210 performs the two-way communication withthe tractor 10 by the communication based on the ISO11783, and sends thenecessary information to the tractor 10. The baler communication unit210 also sends the request for the speed control as needed.

Next, a flow of processing in the tractor 10 is described with referenceto FIG. 3 . FIG. 3 is a flowchart illustrating the flow of processing inthe tractor 10.

As illustrated in FIG. 3 , when the operation of the tractor 10 isstarted (S101) and a start setting of the automatic steering operationis performed, the measuring sensor 16 detects the swath 40 (S102), andthe work continuation width setting module 103 sets a work continuationwidth (S103). Then, the automatic steering operation is started (S104).

When a manual operation (steering operation) is performed during theautomatic steering operation (YES at S105), the traveling controllingmodule 102 determines whether the position of the tractor 10 is withinin the work continuation width (S106). The determination of whether thetractor 10 is located within the work continuation width is performedbased on the position of the tractor 10 obtained by the GPS 15 describedabove. Then, if determined that the tractor 10 is within the workcontinuation width (YES at S106), the automatic steering is suspended,and the tractor 10 travels based on the manual operation of the worker.Then, when the manual operation of the worker is finished (YES at S107),the traveling controlling module 102 steers the tractor 10 so that thetractor 10 is restored to or returns to the preset traveling path, andcontinues the automatic steering operation (S108).

The determination of the manual operation being finished can be made,for example, when the worker releases his/her hand(s) from the steeringwheel, when there has not been steering operation for a given period oftime, and when there is an input indicating that the manual operation isfinished into a switch. Note that the determination of whether theworker released the hand from the steering wheel can be made byattaching a sensor to the steering wheel.

Moreover, a path for returning to the traveling path may be determined,for example, based on a relation between the traveling direction of thetractor 10 and the traveling path, a distance between the position ofthe tractor 10 and the traveling path when the manual operation isfinished, a setting of a path length for returning to the travelingpath, and an angular velocity (an angle and a time) of the steeringoperation in the manual operation.

Here, a case is considered where the manual operation is performedbecause there is an obstacle. In this case, if the worker could avoidthe obstacle without significantly steering the steering wheel, thetractor 10 and the baler 20 are possible to return to the scheduled pathby the shortest route. On the other hand, if the steering wheel issteered significantly and the tractor 10 and the baler 20 are returnedby the shortest route, they may roll over. Especially, since the baler20 becomes heavier when the size of the bale 41 increases, the steeringneeds to be performed carefully. Thus, in such a case, the tractor 10and the baler 20 return at a steering angle at which they will not rollover to the path on which the tractor 10 and the baler 20 wereoriginally scheduled to travel by the auto steer. The convergencesensibility of such a return may be set using the terminal 150, or itmay be changed according to the size of the bale 41.

On the other hand, at Step S105, if there is no manual operation (NO atS105), the automatic steering operation is continued as it is. Moreover,if the tractor 10 exits the work continuation width at Step S106 (NO atS106), the traveling controlling module 102 cancels the automaticsteering operation (S109).

Next, a continuation of the automatic steering operation is describedwith reference to FIGS. 4 and 5 . FIGS. 4 and 5 are views illustratingthe continuation of the automatic steering operation. As describedabove, in this preferred embodiment, when the tractor 10 exists withinthe work continuation width, it does not cancel the automatic steeringoperation even if there is a manual operation.

For example, as illustrated in FIG. 4 , considering a case where atraveling path 402 of the automatic steering operation is set withrespect to the swath 40, and the work continuation width 403 (403L,403R) is set with a width Th. In this case, if the worker operatesnothing, the tractor 10 travels along the traveling path 402. Here, asillustrated in FIG. 5 , assuming that the worker operates the steeringwheel so that the tractor 10 deviates to the right from the travelingpath 402 and travels on a traveling path 405. Then, assuming that theworker finishes the steering operation (manual operation) at Point A. Inthis case, since the tractor 10 exists within the work continuationwidth 403 during a period from the start to the end (Point A) of themanual operation, the automatic steering operation is not canceled.Then, since the manual operation is canceled at Point A, the travelingcontrolling module 102 controls the tractor 10 to travel so that thetractor 10 returns to the traveling path 402 along an optimal path fromPoint A. Then, when the tractor 10 returns to the traveling path 402,the traveling controlling module 102 continues the automatic steeringoperation.

Modification 1

In the above preferred embodiment, when the tractor 10 exists within thework continuation width 403, the automatic steering operation is notcanceled. However, for example, if a so-called “rapid steeringoperation” takes place, the automatic steering operation may be canceledeven if the tractor 10 exists within the work continuation width 403.

That is, if an amount of steering operation exceeds a threshold within agiven period of time, the automatic steering operation is canceledbecause of the “rapid steering operation.” When there is a “rapidsteering operation,” an unexpected situation may be occurring, such asan obstacle or a person being appeared. In this modification, since theautomatic steering operation is canceled in such a situation, the safetymeasure is improved.

Modification 2

The swath information acquiring module 101 may acquire the swathposition from an FMIS (Farm Management Information System). The FMIS isa system which performs a centralized management of information detectedby various sensors. If information related to the swath formed bycollecting the mowed hay, grass, etc. is managed by the FMIS before thebale work, the tractor 10 communicates with the FMIS to acquire theinformation and recognizes the swath position.

Modification 3

The traveling controlling module 102 may acquire a traveling footprintwhen the tractor 10 travels on a swath for a certain distance by themanual operation, and may set the subsequent traveling path based on thetraveling footprint. By using the traveling footprint obtained byactually traveling on the swath, a traveling path close to that of themanual operation can be set.

Note that, when the shape of the bale 41 is adjusted by using such amanual operation, the baler sensor 25 may measure the shape of the bale41, and the baler controller 200 or the tractor controller 100 mayperform a machine learning to utilize the measured shape for the futureautomatic steering.

Preferred Embodiment 2

In Preferred Embodiment 1 described above, the traveling controllingmodule 102 determines the traveling path based on the swath detected bythe measuring sensor 16. In this preferred embodiment, in addition tothat, the traveling controlling module 102 determines the subsequenttraveling path based on the traveling footprint of the past. Note that,here, an actually-traveled path is referred to as the “travelingfootprint,” and a scheduled-traveling path is referred to as the“traveling path.”

First, FIG. 6 illustrates a functional block diagram of a tractor 10A inthis preferred embodiment. As illustrated in FIG. 6 , the tractor 10A inthis preferred embodiment includes a tilt sensor 123 in the sensor 120,and a traveling-path determining module (traveling-footprint acquiringmodule) 1021 in the traveling controlling module 102, as compared withthe tractor 10 in Preferred Embodiment 1 described above.

The traveling-path determining module 1021 of the traveling controllingmodule 102 approximates, each time the tractor 10A travels a givensection (given second section), the traveling footprint of the tractor10A in a previous section (given first section) up to the current timeby a sine wave when seen from the sky, and determines the sine-wave pathwhen seen from the sky as the subsequent traveling path.

Referring to FIG. 7 , this path is described concretely. FIG. 7 is aview illustrating one example of a method of determining the travelingpath by the traveling controlling module 102. In FIG. 7 , the tractor10A travels from the left to the right. When the tractor 10A travelsfrom Point X to Point Y, and when the traveling-path determining module1021 determines at Point Y the traveling path after Point Y, itdetermines the subsequent traveling path based on the actually-traveledfootprint in the given section X-Y (given first section). That is, inthe given section X-Y, when the traveling path determined by thetraveling-path determining module 1021 is a path 701, and the travelingfootprint on which the tractor 10A actually traveled by a manualoperation of the worker is a footprint 702, the traveling-pathdetermining module 1021 approximates, by a sine wave, the footprint 702by using a difference (offset amount) between the footprint 702 and aswath center line, and determines the path indicated by the approximatedsine wave as a future traveling path 703.

Thus, since the future traveling path is able to be determined based onthe latest actually-traveled footprint, the traveling path conforms morewith the actual situation. Here, the swath center line is a line alongthe center of the swath in the traveling direction.

Note that the traveling footprint may be acquired based on the positionof the tractor 10A detected by the GPS 15, or may be calculated based onthe steered amount of the steering wheel of the user interface 130, thetraveling speed of the tractor 10A, etc.

Alternatively, when the tractor 10A travels, by a so-called “nudgefunction,” on a line offset to the left or the right from the swathcenter line (hereinafter, also referred to as the “nudge line”) as aguide line, the traveling-path determining module 1021 may use a pathindicated by a sine wave with respect to the nudge line as the travelingpath. For example, as illustrated in FIG. 8 , when the nudge line existson the left side of the swath center line in the traveling direction,and a traveling path 701A and a traveling footprint 702A exist on thebasis of the nudge line, the traveling-path determining module 1021 maydetermine a path indicated by a sine wave using the nudge line as thecenter line (i.e., a sine wave offset to left side from the swath centerline) as a traveling path 703A.

Modification 4

The traveling-path determining module 1021 may determine the travelingpath by performing machine learning using a deep learning model which isa kind of AI (Artificial Intelligence). That is, the traveling-pathdetermining module 1021 may determine the traveling path by performingthe machine learning by using information indicative of states ofperipheral environment, such as various sensor values acquired by thesensor, the swath position, and the bale shape, and theactually-traveled path, as learning data.

Therefore, a more appropriate traveling path conforming with the actualsituation is able to be determined.

Modification 5

The traveling-path determining module 1021 may determine the travelingpath based on the sensor value detected by the tilt sensor 123. In asloping ground, a difference may occur in the traveling footprintbetween the tractor 10A and the baler 20. Thus, by determining thetraveling path based on the detection value of the tilt sensor 123, thetraveling path is able to be determined in consideration of thedifference in the traveling footprint between the tractor 10A and thebaler 20.

Modification 6

The traveling path determined by the traveling-path determining module1021 may be displayed on the display unit 151 of the terminal 150. Bydisplaying it on the display unit 151, the worker can clearly recognizethe traveling path. Moreover, the traveling path may be displayed alongwith the swath position etc. Therefore, the worker can recognize arelation between the traveling path and the swath position.

Modification 7

The information used to determine the traveling path may be stored inthe tractor controller 100 even after a key of the tractor 10A is turnedoff (e.g., after the engine is stopped). Therefore, when a work is againperformed using the tractor 10A, the traveling path is able to bedetermined using the previous information.

Moreover, in the method of determining the traveling path by using themachine learning, the machine-learned contents may be stored in thetractor controller 100 even after the key of the tractor 10A is turnedoff. Therefore, when the work is again performed using the tractor 10A,the traveling path is able to be determined based on the previouslylearned contents.

The control block of the tractors 10 and 10A and the baler 20(particularly, the tractor controller 100, the baler controller 200) maybe implemented, for example, by a logic circuit (hardware) embodied inan integrated circuit (IC chip) or may be implemented by software, forexample.

In the latter case, the tractors 10 and 10A and the baler 20 areprovided with a computer which executes a command of a program which issoftware which achieves the functions. For example, the computer isprovided with at least one processor (control device) and at least onecomputer-readable recording medium which stores the program describedabove. By the processor of the computer reading and executing theprogram from the recording medium, the purpose of the present disclosureis achieved. For example, a CPU (Central Processing Unit) may be used asthe processor. For example, as the recording medium, “non-transitorytangible medium” such as a ROM (Read Only Memory), a tape, a disc, acard, a semiconductor memory, and a programmable logic circuit, may beused. In addition, a RAM (Random Access Memory) which develops theprogram may also be provided. Moreover, the program may be supplied tothe computer via an arbitrary transmission medium (a communicationnetwork, a broadcast wave, etc.) which can transmit the program. Notethat one mode of the present disclosure may also be implemented as aform of data signal embedded in a carrier wave, where the program isimplemented by an electronic transmission.

Preferred Embodiment 3

Below, another preferred embodiment of the present disclosure isdescribed in detail. As illustrated in FIG. 9 , the tractor 10 accordingto this preferred embodiment is a work vehicle provided with an autosteering function. In the auto steering function of the tractor 10, autosteering is executed by turning ON an auto steering switch 132, and theauto steering is canceled by performing a manual steering operation etc.However, in this preferred embodiment, even if the manual steeringoperation is performed during the auto steering, the auto steering isnot completely canceled while an interruption button 133 is actuated,and the auto steering is again performed when the interruption button133 is no longer actuated. Moreover, while the interruption button 133is actuated, the tractor 10 can be steered by the manual steeringoperation.

Thus, even if the manual steering operation is performed during theexecution of the auto steering, the auto steering is not alwayscompletely canceled, and therefore, the worker can cancel the autosteering as he/she intended.

Note that since the general functions of the tractor 10 as anagricultural machine are achievable by known arts, the descriptionthereof is omitted herein. Moreover, although the tractor 10 isdescribed as one example in this preferred embodiment, the presentdisclosure is applicable to various work vehicles, such as combines andrice transplanters.

Moreover, a coupling part including a three-point linkage etc. may beprovided to a rear portion of the tractor 10, and the working device,such as the baler, may be detachably and movably attached to the tractor10 through the coupling part. Moreover, the working device is notlimited to the baler and it may be a tilling machine, a fertilizerdistributor, a spray machine, a harvester, a reaper, etc.

FIG. 9 is a functional block diagram of the tractor 10. As illustratedin FIG. 9 , the tractor 10 includes an auto steer user interface 131,the actuator 140, a tractor controller 160, and the display unit 151.The auto steer user interface 131 allows the worker to operate thetractor 10, and includes a steering wheel 154, pedals 155, such as anaccelerator pedal and a brake pedal, and various control switches(control lever 157), as illustrated in FIG. 11 . Moreover, the autosteer user interface 131 includes the auto steering switch 132 and theinterruption button 133.

The auto steering switch 132 is a switch to execute the auto steering.After an engine startup, the auto steering can be executed by turning“ON” the auto steering switch 132. Note that the auto steering switch132 may be displayed on the display unit 151 (described later) as anicon. In this case, by operating (e.g., tapping) the icon, the autosteering can be executed (ON) and canceled (OFF).

When the interruption button 133 is actuated while executing the autosteering, the auto steering is not completely canceled during theactuation, even if the manual steering operation is performed by theworker. In more detail, when the interruption button 133 is actuatedwhile executing the auto steering, the worker is able to steer thetractor 10 by the manual steering operation, and when the interruptionbutton 133 is no longer actuated, the tractor 10 returns to thescheduled traveling route set by the auto steering and the auto steeringis continued.

Moreover, the interruption button 133 is in an “ON” state while beingactuated by the worker, and on the other hand, it will be in an “OFF”state when the worker releases his/her finger.

To the scheduled traveling route, the tractor 10 may return by theshortest-distance path from a position at the timing of the interruptionbutton 133 not being actuated, or it may return by the optimal path inconsideration of the traveling direction.

Note that the auto steering is canceled when the manual steeringoperation is performed during the auto steering, without theinterruption button 133 being actuated.

The actuator 140 is to propel the tractor 10 and includes a prime mover(an engine such as a diesel engine and a gasoline engine, an electricmotor, etc.) and a transmission.

The tractor controller 160 performs various controls, such as a travelsystem and a work system of the tractor 10, and includes an autosteering controlling module 161 (a setting module, an executing module,a determining module).

The auto steering controlling module 161 performs setting and executionof the auto steering of the tractor 10. The auto steering controllingmodule 161 performs the auto steering when the auto steering switch 132is turned ON. Moreover, when the interruption button 133 is actuatedwhile executing the auto steering, the execution of the auto steering issuspended while the interruption button 133 is actuated, and when theactuation of the interruption button 133 is finished, the auto steeringis resumed.

The auto steering controlling module 161 automatically controls thesteering of the tractor 10 based on the scheduled traveling routesetting. For example, the auto steering controlling module 161 controlsthe traveling direction of the tractor 10 so that the traveling positionof the tractor 10 matches with the scheduled traveling route. That is,the traveling position of the tractor 10 is compared with the positionindicated by the scheduled traveling route, and when the travelingposition matches with the scheduled traveling route, the steeringdirection is maintained. On the other hand, when the traveling positiondoes not match with the scheduled traveling route, the auto steeringcontrolling module 161 controls the steering direction to control thetraveling direction of the tractor 10 so that an amount of deviation ofthe traveling position from the scheduled traveling route becomes zero.

The display unit 151 is a display device disposed near the driver'sseat, which displays various meters, and allows the worker to performsetting of the auto steering, etc. More than one display unit 151 may beprovided. For example, as illustrated in FIG. 11 , the meters may beinstalled in a dashboard meter 151A in front of the driver's seat, andthe functions for setting the auto steering and controlling an implementmay be separately installed in a terminal 151B (same as the terminal 150in the previous preferred embodiment) on the right or left side of thedriver's seat.

FIG. 10 is a flowchart illustrating a flow of processing in the tractor10 when executing the auto steering.

As illustrated in FIG. 10 , when the engine of the tractor 10 is started(S111) and the auto steering switch 132 is turned ON (YES at S112), theauto steering controlling module 161 executes the auto steering (S113).During the auto steering, before the steering wheel is manually operated(NO at S114), when the interruption button 133 is actuated (YES atS117), the auto steering controlling module 161 suspends the autosteering while the interruption button 133 is actuated (S118). Then,when the actuation of the interruption button 133 is finished (YES atS119), the auto steering controlling module 161 performs the control tobring the tractor 10 back to the scheduled traveling route (S120), andresumes the auto steering (S113).

FIG. 11 is a view illustrating the driver's seat of the tractor 10 seenfrom rear. As illustrated in FIG. 11 , the driver's seat of the tractor10 is provided with a seat 153 near the center, a steering wheel 154forward of the seat 153, the dashboard meter 151A (display unit 151)which displays the meters, the pedals 155, such as the accelerator pedaland the brake pedal, at the worker's feet, a console box on the leftside of the seat 153, an arm rest 159 on the right side of the seat 153,and the control lever 157. Moreover, the terminal 151B (display unit151) which allow the worker to perform the setting of the auto steer ofthe tractor and the control of the implement is disposed forward of thecontrol lever 157. Although the details will be described later, in thispreferred embodiment, the interruption button 133 is provided to thesteering wheel 154, a steering wheel spinner 156 attached to thesteering wheel 154, or the arm rest 159. Note that the interruptionbutton 133 may be displayed as an icon on the terminal 151B.

FIGS. 12 and 13 are views illustrating layouts of the interruptionbutton 133. In this preferred embodiment, as illustrated by 401 in FIG.12 , the interruption button 133 may be disposed at an inner portion ofthe steering wheel 154. By disposing the interruption button 133 at theinner portion of the steering wheel 154, it becomes easier to performthe steering operation, while actuating the interruption button 133.Moreover, when the worker wants to resume the auto steering, it becomeseasier to remove the finger from the interruption button 133 to end theactuating. Moreover, it becomes possible to perform the steeringoperation and the actuating of the interruption button 133 with a singlehand, thus improving the work efficiency of the worker.

Moreover, as illustrated by 402 in FIG. 12 , the interruption button 133may be disposed at the steering wheel spinner 156 provided to thesteering wheel 154. By disposing the interruption button 133 at thesteering wheel spinner 156, the worker can continue actuating theinterruption button 133, while easily performing the steering operationwith the single hand.

Alternatively, as illustrated in FIG. 13 , the interruption button 133may be disposed at a portion of the arm rest 159. By disposing theinterruption button 133 at the portion of arm rest 159, the worker cansecurely actuate the interruption button 133 when the auto steering issuspended.

Further, as illustrated in FIG. 11 , the interruption button 133 may bedisposed at the worker's feet. Although the interruption button 133 isdisposed at the worker's feet in FIG. 11 , a pedal 155 for theinterruption button 133 may be additionally provided.

Note that the disposed position of the interruption button 133 is notlimited to the above position, and it may be disposed at otherpositions, as long as it is a position where the interruption button 133is easily operated by the worker and the worker's steering operation isnot impeded or affected.

Although in the above preferred embodiments the interruption button 133is described as one example of interrupting or suspending the autosteering, it is not limited to the button and may be other elements,such as a switch, which can be turned “ON” and “OFF.” That is, it may beof an alternate type in which “ON” and “OFF” are interchanged each timeit is operated, without being limited to the type which becomes “OFF”when the worker removes his/her finger.

FIG. 14 is a view illustrating a traveling path of the tractor 10 whenthe auto steering of the tractor 10 is executed, the interruption button133 is actuated during the auto steering, and the actuation of theinterruption button 133 is then ended.

As illustrated in FIG. 14 , a scheduled traveling route 65 is set byusing the auto steering, and the tractor 10 travels on the scheduledtraveling route 65 according to the auto steering, from the left to theright in this figure.

Then, the worker discovers an obstacle 61 during traveling, and he/shethen steers the tractor 10 to the right at Point A, while actuating theinterruption button 133. In this case, the tractor 10 changes the pathto the right based on the worker's steering operation, and travels onthe traveling route 63 while avoiding the obstacle 61. Then, at Point B,when the actuation of an interruption button 133 is ended, the tractor10 returns to the scheduled traveling route 65 through an optimal path,and resumes the auto steering.

The optimal path may be a path which connects the position of thetractor 10 and the scheduled traveling route 65 by the shortestdistance, or may be derived from the traveling direction, the speed ofthe tractor 10, and an angle between the scheduled traveling route 65and the traveling direction of the tractor 10. For example, when theobstacle 61 is not so large and the tractor 10 can avoid the obstacle 61without being steered significantly, the tractor 10 can return to thescheduled path by the shortest route. On the other hand, when theobstacle 61 is large and a deviation from the scheduled traveling route65 is large, the tractor 10 may roll over if the tractor 10 returns bythe shortest route. In that case, the tractor 10 returns to thescheduled traveling route 65 at such an angle that the tractor 10 willnot roll over. The returning condition to the scheduled traveling route65 may be variously set by using the terminal 151B.

Thus, even in the situation where conventionally the auto steering iscanceled and it must be set again, this preferred embodiment can preventthe cancelation of the auto steering which is not intended by the workeronly with the easy operation of actuation of the interruption button133.

This is effective when automatically creating the subsequently scheduledtraveling path by referring to the previous path (i.e., currentlytraveling path). For example, when repeating a work for performing anagricultural work by a straight-line movement, and if there is theobstacle 61 at a certain location and a maneuver for avoiding theobstacle is taken, the tractor 10 may learn a portion parallel to thelocation as a curve and it may repeatedly perform a similar automatictraveling also for the subsequent route. On the other hand, in thepresent application, while the interruption button 133 is actuated, thetractor 10 can continue traveling straight for the subsequent path asthe worker intended, if he/she sets the tractor 10 to ignore theobstacle 61 without learning.

The tractor controller 160 (auto steering controlling module 161) of thetractor 10 may be implemented, for example, by a logic circuit(hardware), such as an ECU (Electronic Control Unit) embodied in anintegrated circuit (IC chip), or may be implemented by software.

In the latter case, the tractor controller 160 is provided with acomputer which executes a command of a program which is software whichachieves the functions. For example, this computer is provided with atleast one processor (control device) and at least one computer-readablerecording medium which stores the program described above. By theprocessor of the computer reading and executing the program from therecording medium, the purpose of the present disclosure is achieved. Forexample, a CPU (Central Processing Unit) may be used as the processor.For example, as the recording medium, “non-transitory tangible medium”such as a ROM (Read Only Memory), a tape, a disc, a card, asemiconductor memory, and a programmable logic circuit, may be used. Inaddition, a RAM (Random Access Memory) which develops the program mayalso be provided. Moreover, the program may be supplied to the computervia an arbitrary transmission medium (a communication network, abroadcast wave, etc.) which can transmit the program. Note that one modeof the present disclosure may also be implemented as a form of datasignal embedded in a carrier wave, where the program is implemented byan electronic transmission.

While preferred embodiments of the present invention have been describedabove, it is to be understood that variations and modifications will beapparent to those skilled in the art without departing from the scopeand spirit of the present invention. The scope of the present invention,therefore, is to be determined solely by the following claims.

What is claimed is:
 1. A work vehicle including an automatic steeringfunction that causes the work vehicle to automatically travel on a path,the work vehicle comprising: a setting module configured or programmedto enable and disable of the automatic steering function; an executingmodule configured or programmed to execute the automatic steeringfunction when the setting module enables the automatic steeringfunction; a determining module configured or programmed to determinewhether a steering operation of the work vehicle is performed by aworker; and an interruption button configured or programmed to interruptthe automatic steering function; wherein the executing module isconfigured or programmed to cancel the automatic steering function, whenthe determining module determines that the steering operation isperformed during the execution of the automatic steering function,without the interruption button being actuated; and the executing moduleis configured or programmed to suspend the automatic steering function,when the determining module determines that the steering operation isperformed with the interruption button being actuated, and resume theautomatic steering function after the interruption button is no longeractuated.
 2. The work vehicle of claim 1, wherein the executing moduleis configured or programmed to derive an optimal path to restore thework vehicle to the path based on a position of the work vehicle at atiming when resuming the automatic steering function, and the givenpath; and the executing module is configured or programmed to then causethe work vehicle to travel on the optimal path and to return to thepath.
 3. The work vehicle of claim 1, wherein the interruption button isprovided at a steering wheel.
 4. The work vehicle of claim 1, wherein asteering wheel is provided with a steering wheel spinner, and theinterruption button is provided at the steering wheel spinner.
 5. Thework vehicle of claim 1, wherein the interruption button is provided atan arm rest inside a cabin of the work vehicle.